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CN111293403B - A single-degree-of-freedom symmetric spatially coupled expandable unit and a spatially expandable mechanism based thereon - Google Patents

A single-degree-of-freedom symmetric spatially coupled expandable unit and a spatially expandable mechanism based thereon Download PDF

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Publication number
CN111293403B
CN111293403B CN202010092631.6A CN202010092631A CN111293403B CN 111293403 B CN111293403 B CN 111293403B CN 202010092631 A CN202010092631 A CN 202010092631A CN 111293403 B CN111293403 B CN 111293403B
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China
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support rod
coupling
rod
hingedly connected
rods
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CN111293403A (en
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孔凡臣
刘婧芳
丁华锋
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Beijing University of Technology
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Beijing University of Technology
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S25/00—Arrangement of stationary mountings or supports for solar heat collector modules
    • F24S25/70—Arrangement of stationary mountings or supports for solar heat collector modules with means for adjusting the final position or orientation of supporting elements in relation to each other or to a mounting surface; with means for compensating mounting tolerances
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/40—Solar thermal energy, e.g. solar towers
    • Y02E10/47—Mountings or tracking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Thermal Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aerials With Secondary Devices (AREA)

Abstract

The invention discloses a single-degree-of-freedom symmetrical space coupling deployable unit and a space deployable mechanism based on the same, wherein the single-degree-of-freedom symmetrical space coupling deployable unit comprises a rack, a support rod assembly, a connecting piece and a coupling rod; the frame is hinged with the support rod component; the support rod component is connected with the coupling rod through a connecting piece. The supporting rod drives the space extensible mechanism to be folded and unfolded into an umbrella shape and a plane, the whole mechanism has high rigidity, and in the folding and unfolding processes, the control is simple and convenient.

Description

Single-degree-of-freedom symmetrical space coupling deployable unit and space deployable mechanism based on same
Technical Field
The invention belongs to the technical field of mechanistic application, and particularly relates to a single-degree-of-freedom symmetrical space coupling extensible unit and a space extensible mechanism based on the same.
Background
The space extensible mechanism has wide application in the fields of open-close roofs, large-scale space extensible antennas, space extensible support arms, solar cell arrays and the like. Currently, a large space deployable mechanism has the defect of insufficient overall rigidity, which further limits the supporting effect of the space deployable mechanism on a load and the working performance of the space deployable mechanism. Therefore, there is a need in the art for a new solution to solve this problem.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the supporting rod is driven to realize the folding and unfolding of the space unfolding mechanism into an umbrella shape and a plane, the whole mechanism has higher rigidity, and the control is simple and convenient in the folding and unfolding processes.
The technical scheme adopted by the invention is that the single-degree-of-freedom symmetrical space coupling deployable unit is characterized in that: comprises a frame, a support rod component, a connecting piece and a coupling rod; the frame is hinged with the support rod component; the supporting rod component is connected with the coupling rod through a connecting piece;
the rack is provided with three rack branch rods, wherein two adjacent rack branch rods are hinged with the support rod assembly;
the number of the supporting rod assemblies is two;
one end of each of the four connecting pieces is hinged with the supporting rod assembly, and the other end of each of the four connecting pieces is hinged with the coupling rod;
the number of the coupling rods is two, and the two coupling rods are arranged in a crossed manner; two ends of the coupling rod are respectively hinged with the connecting piece;
the supporting rod assembly comprises a supporting rod I and a supporting rod II; one end of the support rod I is hinged with the rack branch rod, the other end of the support rod I is connected with the support rod II in a sliding manner, and the rod body of the support rod I is hinged with one of the connecting pieces in the two-to-one group; one end of the supporting rod II is connected with the supporting rod I in a sliding mode, and the other end of the supporting rod II is hinged with the other connecting piece in the two-to-one group;
the intersection point of the two support rod assemblies and the two adjacent machine frame branch rods which are hinged with the rotating pair axis is positioned on the symmetrical plane B;
the two adjacent rack branch rods are in mirror symmetry with respect to a symmetry plane B passing through an angle bisector of the axes of the two rack branch rods; the two strut assemblies are mirror symmetric about a plane of symmetry B; the four connecting pieces are symmetrical with each other about a symmetrical plane B in a group; the two coupling rods are symmetrical about a plane of symmetry B;
the symmetry plane B is vertical to the motion chain coplanar plane A;
the axes of the supporting rod assembly, the connecting piece and the coupling rod are positioned on a common plane A of the kinematic chain;
the axis of the support rod assembly and the axis of the connecting piece hinged with the rotating pair are positioned on the same plane A of the moving chain; the axis of the rotating pair hinged with the coupling rod and connected with the connecting piece is vertical to the coplanar A of the kinematic chain;
under the condition that the single-degree-of-freedom symmetrical space coupling deployable unit is completely unfolded into a plane configuration state, the axis of a rotating pair hinged and connected with the rack branch rod and the support rod component is positioned on the coplanar A of the kinematic chain; the plane determined by the two axes of the rack branch rod and the support rod component hinged and connected with the revolute pair is superposed with the coplanar A of the kinematic chain.
The invention adopts another technical scheme that the space extensible mechanism based on the single-degree-of-freedom symmetrical space coupling extensible unit is characterized in that: comprises a frame, a support rod component, a connecting piece and a coupling rod; the frame is hinged with the support rod component; the supporting rod component is connected with the coupling rod through a connecting piece;
the rack is provided with three rack branch rods, and the rack branch rods are hinged with the support rod assemblies;
the number of the supporting rod assemblies is three;
twelve connecting pieces are arranged, one end of each group of four connecting pieces is hinged with the supporting rod assembly, and the other end of each group of four connecting pieces is hinged with the coupling rod;
six coupling rods are arranged, and every two coupling rods are distributed in a group in a crossed manner; two ends of the coupling rod are respectively hinged with the connecting piece;
the supporting rod assembly comprises a supporting rod I and a supporting rod II; one end of the support rod I is hinged with the rack branch rod, the other end of the support rod I is connected with the support rod II in a sliding manner, and the rod body of the support rod I is hinged with two connecting pieces in the four groups; one end of the support rod II is connected with the support rod I in a sliding mode, and the other end of the support rod II is hinged with the other two connecting pieces in the four groups;
the number of the rack branch rods is the same as that of the support rod assemblies; the number of the connecting pieces is four times that of the supporting rod assemblies; the number of coupling rods is twice the number of support rod assemblies.
Through the design scheme, the invention can bring the following beneficial effects: a supporting rod drives the space extensible mechanism to fold and unfold into an umbrella shape and a plane, and the whole mechanism has higher rigidity and is easy and convenient to control in the folding and unfolding processes. A single-degree-of-freedom symmetrical space coupling deployable unit and a space deployable mechanism based on the same are applied to support of large space deployable antennas and large space equipment, and can meet the requirement of supporting load on the high rigidity of the whole space deployable mechanism.
Drawings
The invention is further described with reference to the following figures and detailed description:
FIG. 1 is a schematic structural diagram of a single-degree-of-freedom symmetric space-coupled deployable unit according to the present invention.
Fig. 2 is a schematic diagram of a single-degree-of-freedom symmetric space-coupled deployable unit fully deployed into a planar configuration according to the present invention.
Fig. 3 is a space deployable mechanism based on a single-degree-of-freedom symmetric space coupling deployable unit according to the present invention.
Fig. 4 is a schematic diagram of a spatial deployable mechanism based on a single-degree-of-freedom symmetric spatial coupling deployable unit according to the present invention fully deployed into a planar configuration.
In the figure, 1-frame, 2-supporting rod component, 3-connecting component, 4-coupling rod, 101-frame branch rod, 201-supporting rod I, 202-supporting rod II, A-kinematic chain coplanar and B-symmetrical plane
Detailed Description
The first embodiment is as follows: a single-degree-of-freedom symmetrical space coupling deployable unit is shown in figures 1 and 2 and comprises a frame 1, a support rod assembly 2, a connecting piece 3 and a coupling rod 4; the frame 1 is hinged with the support rod component 2; the support rod assembly 2 is connected with the coupling rod 4 through a connecting piece 3;
the rack 1 is provided with three rack branch rods 101, wherein two adjacent rack branch rods 101 are hinged with the support rod assembly 2;
two support rod assemblies 2 are arranged;
four connecting pieces 3 are arranged, one end of each two connecting pieces is hinged with the supporting rod assembly 2, and the other end of each two connecting pieces is hinged with the coupling rod 4;
the number of the coupling rods 4 is two, and the two coupling rods 4 are arranged in a crossed manner; two ends of the coupling rod 4 are respectively hinged with the connecting piece 3;
the support rod assembly 2 comprises a support rod I201 and a support rod II 202; one end of the supporting rod I201 is hinged with the rack branch rod 101, the other end of the supporting rod I201 is connected with the supporting rod II202 in a sliding mode, and the rod body of the supporting rod I201 is hinged with one connecting piece 3 in the two-two group; one end of the supporting rod II202 is connected with the supporting rod I201 in a sliding mode, and the other end of the supporting rod II202 is hinged with the other connecting piece 3 in the two-by-two group;
the intersection point of the two support rod assemblies 2 and the two adjacent rack branch rods 101 which are hinged with the rotating pair axis is positioned on the symmetrical plane B;
the two adjacent rack branch bars 101 are mirror-symmetrical about a symmetrical plane B passing through an angle bisector of an axis included angle of the two rack branch bars 101; the two support rod assemblies 2 are mirror-symmetrical about a plane of symmetry B; the four connecting pieces 3 are symmetrical with respect to the symmetry plane B in pairs; the two coupling rods 4 are symmetrical with respect to a plane of symmetry B;
the symmetry plane B is vertical to the motion chain coplanar plane A;
the axial line of the supporting rod component 2, the axial line of the connecting piece 3 and the axial line of the coupling rod 4 are positioned on a common plane A of the kinematic chain;
the axis of the rotating pair hinged by the support rod assembly 2 and the connecting piece 3 is positioned on the coplanar A of the kinematic chain; the axis of the revolute pair which is hinged with the coupling rod 4 by the connecting piece 3 is vertical to the coplanar A of the kinematic chain;
under the condition that the single-degree-of-freedom symmetrical space coupling deployable unit is completely unfolded into a planar configuration state, the axis of a rotating pair hinged and connected with the rack branch rod 101 and the support rod component 2 is positioned on the coplanar A of a kinematic chain; the plane determined by the two axes of the rotating pair hinged with the support rod component 2 and the rack branch rod 101 coincides with the coplanar A of the kinematic chain.
The second embodiment is as follows: a space extensible mechanism based on a single-degree-of-freedom symmetrical space coupling extensible unit is shown in figures 3 and 4 and comprises a frame 1, a support rod assembly 2, a connecting piece 3 and a coupling rod 4; the frame 1 is hinged with the support rod component 2; the support rod assembly 2 is connected with the coupling rod 4 through a connecting piece 3;
the rack 1 is provided with three rack branch rods 101; the rack branch rod 101 is hinged with the support rod component 2;
three support rod assemblies 2 are arranged;
twelve connecting pieces 3 are arranged; one end of each group of four is hinged with the support rod component 2, and the other end is hinged with the coupling rod 4;
six coupling rods 4 are arranged, and each two coupling rods are distributed in a group in a crossed manner; two ends of the coupling rod 4 are respectively hinged with the connecting piece 3;
the support rod assembly 2 comprises a support rod I201 and a support rod II 202; one end of the supporting rod I201 is hinged with the rack branch rod 101, the other end of the supporting rod I201 is connected with the supporting rod II202 in a sliding mode, and the rod body of the supporting rod I201 is hinged with the two connecting pieces 3 in the four groups; one end of the supporting rod II202 is connected with the supporting rod I201 in a sliding mode, and the other end of the supporting rod II is hinged with the other two connecting pieces 3 in the four groups;
the number of the rack branch rods 101 is the same as that of the support rod assemblies 2; the number of the connecting pieces 3 is four times that of the supporting rod assemblies 2; the number of the coupling rods 4 is twice the number of the support rod assemblies 2.
According to the single-degree-of-freedom symmetrical space coupling deployable unit and the space deployable mechanism based on the same, the supporting rod is driven to fold and unfold the space deployable mechanism into an umbrella shape and a plane, the whole mechanism has high rigidity, and the control is simple and convenient in the folding and unfolding processes.
The structure can be applied to the support of large space deployable antennas and large space equipment, can meet the requirement of support load on the high rigidity of the whole space deployable mechanism, and has wide application prospect in the fields of deployable roofs, large space deployable antennas, solar cell arrays and the like.

Claims (5)

1.一种单自由度对称空间耦合可展单元，其特征在于：包括机架（1）、支撑杆组件（2）、连接件（3）、耦合杆（4）；机架（1）与支撑杆组件（2）铰接连接；支撑杆组件（2）通过连接件（3）与耦合杆（4）连接；1. A single-degree-of-freedom symmetrical space-coupling expandable unit, characterized in that it comprises a frame (1), a support rod assembly (2), a connector (3), and a coupling rod (4); the frame (1) and the The support rod assembly (2) is hingedly connected; the support rod assembly (2) is connected with the coupling rod (4) through the connecting piece (3); 所述机架（1）设置有三个机架分支杆（101），其中两个相邻的机架分支杆（101）与所述支撑杆组件（2）铰接连接；The frame (1) is provided with three frame branch rods (101), wherein two adjacent frame branch rods (101) are hingedly connected to the support rod assembly (2); 所述支撑杆组件（2）设置有两个；There are two supporting rod assemblies (2); 所述连接件（3）设置有四个，两两一组一端与所述支撑杆组件（2）铰接连接，另一端与所述耦合杆（4）铰接连接；There are four connecting pieces (3), one end of each pair is hingedly connected to the support rod assembly (2), and the other end is hingedly connected to the coupling rod (4); 所述耦合杆（4）设置有两个，两个耦合杆（4）交叉布置；所述耦合杆（4）的两端分别与所述连接件（3）铰接连接。Two coupling rods (4) are provided, and the two coupling rods (4) are arranged in a cross; both ends of the coupling rod (4) are hingedly connected to the connecting piece (3), respectively. 2.根据权利要求1所述的一种单自由度对称空间耦合可展单元，其特征在于：所述支撑杆组件（2）包括支撑杆I（201）和支撑杆II（202）；所述支撑杆I（201）的一端与所述机架分支杆（101）铰接连接，另一端与所述支撑杆II（202）滑动连接，所述支撑杆I（201）的杆身与所述两两一组中其中一个连接件铰（3）铰接连接；所述支撑杆II（202）的一端与所述支撑杆I（201）滑动连接，另一端与所述两两一组中另一个连接件（3）铰接。2. The single-degree-of-freedom symmetric spatially coupled expandable unit according to claim 1, characterized in that: the support rod assembly (2) comprises a support rod I (201) and a support rod II (202); One end of the support rod I (201) is hingedly connected with the rack branch rod (101), and the other end is slidably connected with the support rod II (202). One of the connecting pieces (3) in the two sets is hingedly connected; one end of the support rod II (202) is slidably connected with the support rod I (201), and the other end is connected with the other of the two sets Piece (3) is hinged. 3.根据权利要求1所述的一种单自由度对称空间耦合可展单元，其特征在于：所述两个支撑杆组件（2）与所述两个相邻机架分支杆（101）铰接连接转动副轴线的交点位于对称平面B上；所述两个相邻机架分支杆（101）关于过这两个机架分支杆（101）轴线夹角角平分线的对称平面B镜像对称；所述两个支撑杆组件（2）关于对称平面B镜像对称；所述四个连接件（3）两两一组关于对称平面B对称；所述两个耦合杆（4）关于对称平面B对称；所述对称平面B与运动链共平面A为垂直关系；所述支撑杆组件（2）的轴线、连接件（3）的轴线、耦合杆（4）的轴线位于运动链共平面A上；所述支撑杆组件（2）与所述连接件（3）铰接连接转动副的轴线位于运动链共平面A上；所述连接件（3）与所述耦合杆（4）铰接连接转动副的轴线与运动链共平面A为垂直关系。3. The single-degree-of-freedom symmetrical space-coupling expandable unit according to claim 1, wherein the two support rod assemblies (2) are hinged with the two adjacent rack branch rods (101). The point of intersection connecting the secondary axes of rotation is located on the symmetry plane B; the two adjacent rack branch rods (101) are mirror-symmetrical about the symmetry plane B passing through the angle bisector of the included angle between the axes of the two rack branch rods (101); The two support rod assemblies (2) are mirror-symmetrical about the symmetry plane B; the four connecting members (3) are symmetrical about the symmetry plane B in pairs; ; The symmetry plane B and the kinematic chain co-plane A are in a vertical relationship; the axis of the support rod assembly (2), the axis of the connecting piece (3), and the axis of the coupling rod (4) are located on the co-plane A of the kinematic chain; The axis of the supporting rod assembly (2) and the connecting member (3) hingedly connected to the rotating pair is located on the co-plane A of the kinematic chain; the connecting member (3) and the coupling rod (4) are hingedly connecting the rotating pair. The axis and the kinematic chain co-planar A is a vertical relationship. 4.根据权利要求1所述的一种单自由度对称空间耦合可展单元，其特征在于：在单自由度对称空间耦合可展单元完全展开成为平面构形状态下，所述机架分支杆（101）与所述支撑杆组件（2）铰接连接转动副轴线位于运动链共平面A上；所述机架分支杆（101）与所述支撑杆组件（2）铰接连接转动副的两个轴线确定的平面与运动链共平面A重合。4 . The single-degree-of-freedom symmetric space-coupling expandable unit according to claim 1 , wherein when the single-degree-of-freedom symmetric space-coupling expandable unit is fully expanded into a plane configuration, the rack branch rods (101) is hingedly connected to the support rod assembly (2), and the axis of the rotation pair is located on the co-plane A of the kinematic chain; the frame branch rod (101) is hingedly connected to the support rod assembly (2) to connect two of the rotation pairs The plane defined by the axis coincides with the coplanar A of the kinematic chain. 5.一种基于单自由度对称空间耦合可展单元的空间可展机构，其特征在于：包括机架（1）、支撑杆组件（2）、连接件（3）、耦合杆（4）；机架（1）与支撑杆组件（2）铰接连接；支撑杆组件（2）通过连接件（3）与耦合杆（4）连接；5. A space deployable mechanism based on a single-degree-of-freedom symmetrical space coupling deployable unit, characterized in that it comprises a frame (1), a support rod assembly (2), a connector (3), and a coupling rod (4); The frame (1) is hingedly connected with the support rod assembly (2); the support rod assembly (2) is connected with the coupling rod (4) through the connecting piece (3); 所述机架（1）设置有三个机架分支杆（101），所述机架分支杆（101）与所述支撑杆组件（2）铰接连接；The frame (1) is provided with three frame branch rods (101), and the frame branch rods (101) are hingedly connected with the support rod assembly (2); 所述支撑杆组件（2）设置有三个；There are three supporting rod assemblies (2); 所述连接件（3）设置有十二个，每四个一组一端与所述支撑杆组件（2）铰接连接，另一端与所述耦合杆（4）铰接连接；Twelve connecting pieces (3) are provided, and one end of each group of four is hingedly connected to the support rod assembly (2), and the other end is hingedly connected to the coupling rod (4); 所述耦合杆（4）设置有六个，每两个一组交叉分布；所述耦合杆（4）的两端分别与所述连接件（3）铰接连接；There are six coupling rods (4), each of which is distributed in groups of two; two ends of the coupling rods (4) are hingedly connected to the connecting pieces (3) respectively; 所述支撑杆组件（2）包括支撑杆I（201）和支撑杆II（202）；所述支撑杆I（201）的一端与所述机架分支杆（101）铰接连接，另一端与所述支撑杆II（202）滑动连接，所述支撑杆I（201）的杆身与所述四个一组中的两个连接件（3）铰接连接；所述支撑杆II（202）的一端与所述支撑杆I（201）滑动连接，另一端与所述四个一组中的另两个连接件（3）铰接连接；The support rod assembly (2) includes a support rod I (201) and a support rod II (202); one end of the support rod I (201) is hingedly connected with the rack branch rod (101), and the other end is connected with the support rod (101). The support rod II (202) is slidably connected, and the shaft of the support rod I (201) is hingedly connected with the two connecting pieces (3) in the set of four; one end of the support rod II (202) is slidably connected with the support rod I (201), and the other end is hingedly connected with the other two connecting pieces (3) in the group of four; 所述机架分支杆（101）的数量与所述支撑杆组件（2）的数量相同；所述连接件（3）的数量是所述支撑杆组件（2）数量的四倍；所述耦合杆（4）的数量是所述支撑杆组件（2）数量的两倍。The number of the rack branch rods (101) is the same as the number of the support rod assemblies (2); the number of the connecting pieces (3) is four times the number of the support rod assemblies (2); the coupling The number of rods (4) is twice the number of said support rod assemblies (2).
CN202010092631.6A 2020-02-14 2020-02-14 A single-degree-of-freedom symmetric spatially coupled expandable unit and a spatially expandable mechanism based thereon Expired - Fee Related CN111293403B (en)

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